From b0fe5ae1ba1f6bbdb0fff1b450c0bf0a032095ec Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 11 Aug 2014 08:58:39 +0200 Subject: [PATCH] Bring back nominal state of fw attitude controller --- .../fw_att_control/fw_att_control_main.cpp | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index e9480336a2..0cea13cc4d 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -910,18 +910,18 @@ FixedwingAttitudeControl::task_main() _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); } -// if (_actuators_1_pub > 0) { -// /* publish the attitude setpoint */ -// orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); -//// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", -//// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], -//// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], -//// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); -// -// } else { -// /* advertise and publish */ -// _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); -// } + if (_actuators_1_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(actuator_controls_1), _actuators_1_pub, &_actuators_airframe); +// warnx("%.2f %.2f %.2f %.2f %.2f %.2f %.2f %.2f", +// (double)_actuators_airframe.control[0], (double)_actuators_airframe.control[1], (double)_actuators_airframe.control[2], +// (double)_actuators_airframe.control[3], (double)_actuators_airframe.control[4], (double)_actuators_airframe.control[5], +// (double)_actuators_airframe.control[6], (double)_actuators_airframe.control[7]); + + } else { + /* advertise and publish */ + _actuators_1_pub = orb_advertise(ORB_ID(actuator_controls_1), &_actuators_airframe); + } }